A carbon nanotube (CNT) muscle device includes a first CNT yarn. The first CNT yarn includes: one or more first CNT sheets wrapped in the form of a tube; and a first guest actuation material infiltrating the one or more first CNT sheets.一種奈米碳管(CNT)肌肉裝置包括一第一CNT紗。該第一CNT紗包括:一或多個呈一管的形式被包覆的第一CNT片;以及一滲透該一或多個第一CNT片的第一客體致動材料。